class.md

Class diagram

The following diagram shows the class structure of dio_ros_driver.

dio_ros_driver is constructed of main 6 types of class.

Classes

DIO_ROSDriver class

• Responsibility

  • To integrates all function; interface between DIO module and Autoware (ROS nodes).

• Function

  • To initialize all objects including accessor and diagnostic function to realize dio_ros_driver
  • To execute all function with accessors and diagnostic function
  • To terminate the process with the predefined sequence

DIO_AccessorBase class

• Responsibility

  • Base class to provide basic function to read/write raw value from/to port provided DIO module

• Function

  • To initialize DIO module and get permission of ports access
  • To provide basic function to access DI and DO ports
    • To read value from port function
    • To deliver accessor's scope

DINAccessor class

• Responsibility

  • To read value from DI ports and return it

• Function

  • To manage DI ports to be selected
  • To read value from DI ports
  • To warn if write access is invoked to DI ports

DOUTAccessor class

• Responsibility

  • To write value to DO ports and return it

• Function

  • To manage DO ports to be selected
  • To write value to DO ports

DIO_DiagnosticUpdater class

• Responsibility

  • Wrapper class of diagnostic_updater

• Function

  • To update /diagnostic topic to notify warning or error, and status
  • To call callback function using a method from DIO_AccessorDiagnosis

DIO_AccessorDiagnostis class

• Responsibility

  • To aggregate status from a corresponding accessor embodied from DIO_AccessorBase, and format status to send /diagnostic

• Function

  • To update status with aggregating status data from a corresponding accessor whose pointer DIO_accessorDiagnostic has.
  • To format diagnostic information to send /diagnostic